CN107346059B

CN107346059B - Variable focal length imaging system

Info

Publication number: CN107346059B
Application number: CN201710300099.0A
Authority: CN
Inventors: P.G.格拉德尼克; R.K.布里尔
Original assignee: Mitutoyo Corp
Current assignee: Mitutoyo Corp
Priority date: 2016-05-02
Filing date: 2017-05-02
Publication date: 2020-03-03
Anticipated expiration: 2037-05-02
Also published as: CN107346059A; US20170318216A1; US9930243B2; JP6850648B2; JP2018022127A; DE102017207179A1

Abstract

A Variable Focal Length (VFL) imaging system comprising: a camera system; a first high speed Variable Focal Length (VFL) lens; a second high speed Variable Focal Length (VFL) lens; a first relay lens comprising a first relay focal length; a second relay lens comprising a second relay focal length; and a lens controller. The first and second relay lenses are spaced relative to each other along an optical axis of the VFL imaging system by a distance equal to a sum of the first and second relay focal lengths. The first and second high-speed VFL lenses are spaced relative to each other along the optical axis on opposite sides of a mid-plane located at a distance from the first relay lens equal to the first relay focal length. The lens controller is configured to: providing synchronous periodic modulation of the optical power of the first high speed VFL lens and the optical power of the second high speed VFL lens.

Description

Variable focal length imaging system

Technical Field

The present disclosure relates to imaging systems that may be included in machine vision inspection systems and microscopes.

Background

Adjustable magnification optical systems may be utilized in precision non-contact metrology systems, such as precision machine vision inspection systems (or simply "vision systems"). These vision systems may be utilized to obtain accurate dimensional measurements of the object and to inspect various other object characteristics, and may include computers, cameras and optical systems, as well as precision stages that move to allow the workpiece to traverse and inspect. An exemplary prior art system characterized as a general "off-line" precision vision system is QUICK

A series of PC-based vision systems and available from Mitutoyo America Corporation (MAC) of Aurora, Ill

And (3) software. QUICK

Series of vision systems and

features and operation of the software are generally described in, for example, the QVPAK 3D CNC Vision measuring Machine User's Guide published on month 1 2003 and the QVPAK 3D CNC Vision measuring Machine published on month 9 1996The Machine Operation Guide, which is hereby incorporated by reference in its entirety. This type of system uses a microscope type optical system and moves stages to provide inspection images of small or relatively large workpieces at various magnifications.

General purpose precision machine vision inspection systems are typically programmable to provide automated video inspection. These systems typically include GUI features and predetermined image analysis "video tools" so that "non-expert" operators can perform the operations and programming. For example, U.S. Pat. No.6,542,180, which is incorporated herein by reference in its entirety, teaches a vision system that uses automated video inspection including the use of various video tools.

In various applications, it is desirable to perform high-speed autofocus, extended depth of focus, and/or other operations to facilitate high-speed measurements for high throughput in fixed inspection systems or non-stop mobile inspection systems. The speed of autofocus and other focus-requiring operations in conventional machine vision inspection systems is limited by the motion of the camera through a range of Z-height positions. There is a need for improved auto-focus and/or other operations that utilize alternative methods of collecting images of a range of focus distances (e.g., image stacks for measuring Z-height positions), and which can operate at different magnification levels, among other things, without compromising the range of focus, image quality, and/or dimensional accuracy of the images. Spherical aberration in the optical components can degrade the performance of these operations. There is therefore a need for an imaging system that provides reduced spherical aberration in the optical components of the imaging system.

Disclosure of Invention

This summary is provided to introduce a selection of concepts in a simplified form that are further described below in the detailed description. This summary is not intended to identify key features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.

A Variable Focal Length (VFL) imaging system is provided. The VFL imaging system includes: a camera system; a first high speed Variable Focal Length (VFL) lens; a second high speed Variable Focal Length (VFL) lens; a first relay lens comprising a first relay focal length; a second relay lens comprising a second relay focal length; and a lens controller. The first and second relay lenses are spaced relative to each other along an optical axis of the VFL imaging system by a distance equal to a sum of the first and second relay focal lengths. The first and second high-speed VFL lenses are spaced relative to each other along the optical axis on opposite sides of a mid-plane located at a distance from the first relay lens equal to the first relay focal length. The lens controller is configured to: providing synchronous periodic modulation of the optical power of the first high speed VFL lens and the optical power of the second high speed VFL lens.

Drawings

FIG. 1 is a diagram illustrating various typical components of a general purpose precision machine vision inspection system;

FIG. 2 is a block diagram of a control system portion and a vision component portion of a machine vision inspection system similar to FIG. 1 and including features disclosed herein;

FIG. 3 is a schematic diagram of a Variable Focal Length (VFL) imaging system that may be adapted for use in a precision non-contact metrology system (e.g., a machine vision inspection system) and that operates in accordance with the principles disclosed herein;

FIG. 4 is a schematic diagram of a portion of a Variable Focus (VFL) imaging system;

FIG. 5 is a timing diagram showing the phase timing of the periodic modulation control signals and the optical response for the VFL imaging system of FIG. 3; and

figure 6 is a diagram showing plots of the resonant frequency of one type of variable focus lens at various operating temperatures.

Detailed Description

FIG. 1 is a block diagram of an exemplary machine vision inspection system 10 that may be used in accordance with the principles disclosed herein. Machine vision inspection system 10 includes a vision measuring machine 12 operatively connected to exchange data and control signals with a control computer system 14 and with a monitor or display 16, a printer 18, a joystick 22, a keyboard 24, and a mouse 26. The monitor or display 16 may display a user interface suitable for controlling and/or programming the machine vision inspection system 10. In various implementations, a touch screen tablet or the like may be substituted for and/or redundantly provide any or all of the functionality of computer system 14, display 16, joystick 22, keyboard 24, and mouse 26.

More generally, controlling computer system 14 may comprise or consist of any computing system or device and/or distributed computing environment, etc., any of which may include one or more processors executing software to perform the functions described herein. Processors include programmable general purpose or special purpose microprocessors, programmable controllers, Application Specific Integrated Circuits (ASICs), Programmable Logic Devices (PLDs), and the like, or a combination of such devices. The software may be stored in a memory (e.g., Random Access Memory (RAM), Read Only Memory (ROM), flash memory, etc., or a combination of these components). The software may also be stored in one or more storage devices (e.g., an optical-based disk, a flash memory device, or any other type of non-volatile storage medium for storing data). Software may include one or more program modules including routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. In a distributed computing environment, the functionality of the program modules may be combined or distributed across multiple computing systems or devices and accessed via service calls, either through a wired configuration or a wireless configuration.

The vision measurement machine 12 includes a movable workpiece stage 32 and an optical imaging system 34, which may include a zoom lens or an interchangeable lens. Zoom lenses or interchangeable lenses typically provide various magnifications (e.g., 0.5x to 100x) for the image provided by the optical imaging system 34. Similar machine vision inspection systems are described in commonly assigned U.S. Pat. Nos. 7,324,682, 7,454,053, 8,111,905, and 8,111,938, each of which is incorporated by reference herein in its entirety.

Fig. 2 is a block diagram of a control system portion 120 and a vision components portion 200 of the machine vision inspection system 100 similar to the machine vision inspection system of fig. 1 and including features described herein. The control system portion 120 is utilized to control the vision components portion 200, as will be described in greater detail below. The vision components portion 200 includes an optical assembly portion 205,

light sources

220, 230, and 240, and a workpiece stage 210 that may have a central transparent portion 212. Workpiece stage 210 is controllably movable along x and y axes lying in a plane generally parallel to the surface of the stage on which workpiece 20 may be located.

The optical assembly portion 205 may include an optical detector 260 (e.g., camera, confocal optical detector, etc.), a first high-speed Variable Focal Length (VFL) lens 270A, a second high-speed Variable Focal Length (VFL) lens 270B, and may further include an interchangeable objective lens 250 and a turret lens assembly 280 having lenses 286, 288. Alternatively to turret lens assembly, a fixed or manually interchangeable magnification change lens or zoom lens configuration or the like may be included. In various implementations, various lenses may be included as components of the variable power lens portion of the optical assembly portion 205. In various implementations, interchangeable objective lens 250 may be selected from a set of fixed magnification objective lenses (e.g., a set ranging from 0.5x to 100x, etc.).

In various implementations, the optical assembly portion 205 may be controllably moved along a z-axis, which is generally orthogonal to the x-axis and the y-axis, by using a controllable motor 294 that drives an actuator to move the optical assembly portion 205 along the z-axis to change the focus of the image of the workpiece 20. The controllable motor 294 is connected to the input/output interface 130 via a signal line 296. As will be described in greater detail below, the first high speed VFL lens 270A and the second high speed VFL lens 270B may also be operable to periodically modulate the focal position. A workpiece 20 to be imaged using the machine vision inspection system 100 or a pallet or fixture carrying a plurality of workpieces 20 is placed on the workpiece stage 210. In various implementations, the workpiece stage 210 may be controllable to move (e.g., in the x-axis direction and the y-axis direction) relative to the optical assembly 205 such that the image area (imaged by the interchangeable objective lens 250, etc.) moves between locations on the workpiece 20 and/or between multiple workpieces 20.

One or more of the level light 220, the coaxial light 230, and the surface light 240 (e.g., an annular light) may emit

source light

222, 232, 242, respectively, to illuminate one or more workpieces 20. The coaxial light 230 may emit light 232 along a path that includes a mirror 290. The source light is reflected or transmitted as workpiece light 255, and the workpiece light (e.g., used with respect to imaging) passes through the interchangeable objective lens 250, the turret lens assembly 280, the first high-speed VFL lens 270A, and the second high-speed VFL lens 270B, and is collected by the optical detector 260 (e.g., camera, etc.). In various implementations, the optical detector 260 inputs workpiece light and outputs signal data (e.g., one or more images of the workpiece 20, a confocal brightness signal, etc.) on signal line 262 to the control system portion 120. The

light sources

220, 230, 240 may be connected to the control system portion 120 by signal lines or

buses

221, 231, 241, respectively. Control system portion 120 may rotate turret lens assembly 280 along axis 284 to select a turret lens via signal line or bus 281 to alter image magnification.

As shown in FIG. 2, in various exemplary implementations, the control system portion 120 includes a controller 125, an input/output interface 130, a memory 140, a workpiece program generator and actuator 170, and a power supply portion 190. Each of these components, as well as additional components described below, may be interconnected by one or more data/control buses and/or application programming interfaces, or by direct connections between the various elements. The input/output interface 130 includes an imaging control interface 131, a motion control interface 132, and an illumination control interface 133. The motion control interface 132 may include a position control element 132a and a velocity/acceleration control element 132b, but these elements may be fused and/or may not be distinct. The illumination control interface 133 may include

illumination control elements

133a, 133n, 133fl that control, for example, selection, power, on/off switching, and strobe pulse timing, as appropriate, for each corresponding light source of the machine vision inspection system 100.

In accordance with the principles disclosed herein, the input/output interface 130 may also include a lens controller/interface 271. Briefly, in one implementation, the lens controller/interface 271 may include a lens controller or the like that includes lens focus operation circuitry and/or routines. The lens controller/interface 271 may be configured or controlled by a user and/or an operating system, and may utilize signal lines 271' to control the first high-speed VFL lens 270A and the second high-speed VFL lens 270B to periodically (e.g., sinusoidally) modulate the optical power of each and thereby periodically modulate the focal position of the imaging system at a determined operating frequency over a plurality of focal positions along the Z-height direction.

In various implementations, the imaging control interface 131 and/or the lens controller/interface 271 may further include an extended depth of field mode, as described in more detail in co-pending and co-assigned U.S. patent application No.2015/0145980, which is incorporated herein by reference in its entirety. The extended depth of field mode may be selected by a user to provide at least one image (e.g., a composite image) of the workpiece having a greater depth of field than the vision component portion 200 may provide when focused at a single focus position. In various implementations, the imaging control interface 131 and/or the Lens controller/interface 271 may further include a Magnification change adjustment mode that may be selectively or automatically implemented when a Magnification change is made or detected, as described in more detail in co-pending and co-assigned U.S. patent application serial No.14/795,409 entitled "adaptive Operating Frequency of a Variable Focal Length Lens in an adaptive Magnification Optical System," filed on 9.7.2015, which is incorporated herein by reference in its entirety. Other systems and methods Including VFL lenses are described in co-pending and co-assigned U.S. patent application Ser. No.14/841,051 entitled "Multi-Level Image Forming Using an aTunable Lens in a Machine Vision Inspection System" filed on 31.8.2015 and co-pending and co-assigned U.S. patent application Ser. No.14/854,624 entitled "pharmaceutical Abstract correction in Imaging System incorporating Variable Length" filed on 15.9.2015, each of which is hereby incorporated by reference in its entirety. To this end

Memory 140 may include an image file memory portion 141, an edge detection memory portion 140ed, a workpiece program memory portion 142, which may include one or more part programs, etc., and a video tool portion 143. The video tool part 143 includes: a video tool portion 143 a; and other video tool portions (e.g., 143n) that determine a GUI, image processing operations, etc. for each of the corresponding video tools; and a region of interest (ROI) generator 143ROI that supports automatic, semi-automatic, and/or manual operations that define various ROIs operable in various video tools included in the video tool portion 143. The video tool portion also includes an auto focus video tool 143af that determines the GUI, image processing operations, etc. for the focal height measurement operations. The autofocus video tool 143af may additionally include a high speed focal height tool that may be used to measure focal height at high speed, as described in more detail in co-pending and commonly assigned U.S. patent publication No.2014/0368726, which is hereby incorporated by reference in its entirety.

In the context of the present disclosure, and as is well known to those skilled in the art, the term "video tool" generally refers to a relatively complex set of automated or programming operations that a machine vision user may implement through a relatively simple user interface (e.g., graphical user interface, editable parameter window, menu, etc.) without creating a sequence of step-by-step operations included in the video tool or resorting to a general text-based programming language, or the like. For example, the video tool may include a complex pre-programmed set of image processing operations and calculations that are applied and customized in a particular instance by adjusting a few variables or parameters governing the operations and calculations. In addition to the potential operations and calculations, the video tool also includes a user interface that allows a user to adjust these parameters for a particular instance of the video tool. For example, many machine vision video tools allow a user to configure a graphical region of interest (ROI) indicator with a simple "handle drag" operation using a mouse to define orientation parameters for a subset of images to be analyzed by image processing operations of a particular instance of the video tool. It should be noted that visual user interface features are sometimes referred to as video tools where potential operations are implicitly included.

The signal lines or

buses

221, 231, 241 of stage light 220, coaxial light 230, and surface light 240, respectively, are connected to input/output interface 130. Signal lines 262 from the optical detector 260, signal lines 271' from the first and second high-

speed VFL lenses

270A and 270B, and signal lines 296 from the controllable motor 294 are connected to the input/output interface 130. In addition to carrying image data, signal line 262 may also carry signals from controller 125 that initiate certain processing (e.g., image acquisition, confocal brightness measurement, etc.).

One or more display devices 136 (e.g., display 16 of FIG. 1) and one or more input devices 138 (e.g., joystick 22, keyboard 24, and mouse 26 of FIG. 1) may also be connected to the input/output interface 130. The display device 136 and the input device 138 may be used to display a user interface that may include various Graphical User Interface (GUI) features that may be used to perform inspection operations, and/or to create and/or modify part programs to view images captured by the optical detector 260 and/or to directly control the vision system components portion 200. The display device 136 may display user interface features (e.g., associated with the lens controller/interface 271, the focus signal processing portion 277, etc.).

In various exemplary implementations, when a user utilizes the machine vision inspection system 100 to create a part program for a workpiece 20, the user generates part program instructions by operating the machine vision inspection system 100 in a learning mode to provide a desired image acquisition training sequence. For example, the training sequence may include: locating a particular workpiece feature of a representative workpiece in a field of view (FOV); setting a light level; focusing or auto-focusing; acquiring an image; and providing (e.g., using an instance of one or more of the video tools on the workpiece feature) an inspection training sequence applied to the image. The learn mode operates such that the sequence is captured or recorded and converted to corresponding component program instructions. When the part program is executed, these operations will cause the machine vision inspection system to reproduce the trained image acquisition and cause the inspection operation to automatically inspect that particular workpiece feature (which is a corresponding feature in the corresponding orientation) on the current workpiece (e.g., a run mode workpiece) or a workpiece similar to the representative workpiece used when the part program was created.

Fig. 3 is a schematic diagram of a Variable Focal Length (VFL) imaging system 300 that may be suitable for use in a precision contactless metrology system, such as a machine vision inspection system, and that operates in accordance with the principles disclosed herein. It is to be understood that the particular numbered component 3XX of fig. 3 may correspond to and/or have similar operation to the similarly numbered component 2XX of fig. 2, except as otherwise described below. As shown in fig. 3, the VFL imaging system 300 includes a light source 330, an objective lens 350, a tube lens 351, a first relay lens 352, a first high-speed Variable Focal Length (VFL) lens 370A, a second high-speed Variable Focal Length (VFL) lens 370B, a second relay lens 386, a lens controller 371, and an optional filter 376 (e.g., a spatial filter) located at the mid-plane IP. In various implementations, each of the lens controllers 371 and additional components may be interconnected by one or more data/control buses (e.g., system signal and control bus 395) and/or application programming interfaces or by direct connections between the various elements.

The first relay lens 352 includes a first relay focal length RFL1 and the second relay lens 386 includes a second relay focal length RFL 2. The first and

second relay lenses

352, 386 are spaced relative to each other along the optical axis OA of the VFL imaging system 300 by a distance equal to the sum of the first and second relay focal lengths RFL1, RFL 2. The first high-speed VFL lens 370A and the second high-speed VFL lens 370B are spaced relative to each other along the optical axis on opposite sides of the mid-plane IP located at a distance from the first relay lens 352 equal to the first relay focal length RFL 1. In the implementation shown in FIG. 3, both RFL1 and RFL2 are equal to the focal length f. The lens controller 371 is configured to: a synchronous periodic modulation of the optical power of the first high-speed VFL lens 370A and the optical power of the second high-speed VFL lens 370B is provided, as will be described in greater detail below.

In some implementations, the first high-speed VFL lens 370A and the second high-speed VFL lens 370B may be approximately the same.

In some implementations, the first high-speed VFL lens 370A and the second high-speed VFL lens 370B may be driven by a shared signal from the lens controller 371.

In various implementations, the light source 330 may be configured to: the workpiece 320 is illuminated (e.g., by strobe or continuous wave illumination) in the field of view of the VFL imaging system 300. In various implementations, the light source 330 may include a first illumination source, a second illumination source, a third illumination source, etc. as components of the illumination system. For example, light source 330 may operate to: an example of stroboscopic illumination is provided by operating a corresponding illumination source, such as an illumination source that is a component of the light source 330. In various implementations, to achieve proper illumination balance, the light source 330 may be controllable, allowing the intensity of all instances of stroboscopic illumination (e.g., each corresponding to a different illumination source within the light source 330) to be adjusted independently and simultaneously to control the overall brightness of the image.

In operation, in the implementation shown in fig. 3, the light source 330 is a "coaxial" light source configured to: the source light 332 is emitted to the surface of the workpiece 320 through the objective lens 350 along a path that includes a partial mirror 390, wherein the objective lens 350 receives the workpiece light 355 focused at a focus position FP near the workpiece 320 and outputs the workpiece light 355 to the tube lens 351. In other implementations, similar light sources may illuminate the field of view in a non-coaxial manner, e.g., an annular light source may illuminate the field of view. In various implementations, the objective lens 350 may be an interchangeable objective lens, and the tube lens 351 may be included as part of a turret lens assembly (e.g., similar to the interchangeable objective lens 250 and turret lens assembly 280 of fig. 2). In various implementations, objective lens 350, tube lens 351, or any other lens referenced herein may be formed in or operate in conjunction with a single lens, a compound lens, or the like. The tube lens 351 receives the workpiece light 355 and outputs it to the first relay lens 352.

The first relay lens 352 receives the workpiece light 355 and outputs it to a first high-speed VFL lens 370A. The first high-speed VFL lens 370A receives the workpiece light 355 and outputs it to the second high-speed VFL lens 370B. If the imaging system 300 includes a filter 376, the light output from the first high-speed VFL lens 370A may be filtered (e.g., spatially filtered). The second high-speed VFL lens 370B receives the workpiece light 355 and outputs it to a relay lens 386. Relay lens 386 receives workpiece light 355 and outputs it to optical detector (e.g., camera system) 360. In various implementations, the optical detector 360 may capture an image of the workpiece 320 during an image exposure period and may provide the image to the control system portion (e.g., similar to the operation of the optical detector 260 of fig. 2 for providing the image to the control system portion 120).

The first high-speed VFL lens 370A and the second high-speed VFL lens 370B are electrically controllable to change the focal position FP of the imaging system (e.g., during one or more image exposures, during confocal brightness determination, etc.). The focus position FP can be moved within a range R defined by the focus position FP1 and the focus position FP 2. It should be understood that in various implementations, the range R may be selected by a user, or may be derived from design parameters, or may otherwise be determined automatically. Generally, with respect to the example of fig. 3, it is understood that the specifically illustrated dimensions may not be to scale. For example, the first high-speed VFL lens 370A and the second high-speed VFL lens 370B may have proportional dimensions different than those shown (e.g., may be less wide and up to 50mm long or longer for a particular application to provide a desired amount of lensing power, etc.).

In various implementations, a machine vision inspection system may include a control system (e.g., control system 120 of fig. 2) configurable to: the first high-speed VFL lens 370A and the second high-speed VFL lens 370B are operated in conjunction with, or otherwise controlled by, the lens controller 371 to periodically modulate the focal position of the VFL imaging system 300. In some implementations, the first high-speed VFL lens 370A and the second high-speed VFL lens 370B can adjust or modulate the focus position very quickly (e.g., periodically, at a rate of at least 300Hz or 3kHz or 70kHz or far higher). In one example implementation, the range R may be approximately 10mm (e.g., for a 1X objective 350). In various implementations, the first high speed VFL lens 370A and the second high speed VFL lens 370B are advantageously chosen so that they do not require any macro-mechanical adjustments in the imaging system and/or adjustments in the distance between the objective lens 350 and the workpiece 320 in order to change the focal position FP. In this case, an extended depth of field image may be acquired as described in the previously incorporated' 980 publication. Furthermore, there is no macroscopic adjustment element or associated positioning non-repeatability that degrades accuracy (e.g., for accuracy on the order of a few microns or tenths of a micron or less) when the same imaging system is used to acquire a fixed focus inspection image that can be used for accurate measurements. As described in the previously incorporated' 726 publication, changes in the focal position FP may also be utilized to rapidly acquire an image stack comprising multiple images at multiple locations along the Z-height direction near the workpiece 320.

In various implementations, the first high-speed VFL lens 370A and the second high-speed VFL lens 370B may be tunable acoustic gradient index ("TAG") lenses. Tunable acoustic gradient index lenses are high-speed VFL lenses that use acoustic waves in a fluid medium to modulate the focal position and can periodically scan the focal range at a frequency of several hundred kHz. The lens can be understood by the teaching of the article "High-speed varied imaging with a structural acidic gradient index of the diffraction lens" (Optics Letters, Vol.33, No.18, 15/9/2008), which is hereby incorporated by reference in its entirety. Tunable acoustic gradient-rate lenses and associated controllable signal generators are available, for example, from TAG Optics, inc. The model tl2.b. xxx series lenses are for example capable of modulation up to approximately 600 kHz.

In various implementations, the optical detector 360 may include a sensor with a global shutter (i.e., a sensor that exposes each pixel simultaneously), as described in more detail in the previously incorporated' 726 publication. This implementation is advantageous in that it provides the ability to measure image stacks without movement of the workpiece or any component of the VFL imaging system 300. In various alternative implementations, the optical detector 360 may include a sensor having an Electronic Roller Shutter (ERS) system. For example, the camera system may include a black and white CMOS sensor using SXGA resolution coupled with an Electronic Roller Shutter (ERS) system (e.g., model MT9M001 from Aptina Imaging, san jose, california).

The first high-speed VFL lens 370A and the second high-speed VFL lens 370B may be driven by a lens controller 371, which may generate signals to operate them. In one implementation, lens controller 371 may be a commercially available controllable signal generator. In some implementations, the lens controller 371 may be configured or controlled by a user and/or an operating program (e.g., via the lens controller/interface 271 previously outlined with respect to fig. 2). In some implementations, the lens controller 371 may control the first and second high-

speed VFL lenses

370A and 370B to periodically (e.g., sinusoidally) modulate their optical power and thereby periodically modulate the focal position of the imaging system at a high operating frequency over multiple focal positions along the Z-height direction. For example, in some example implementations, the tunable acoustic gradient index lens may be configured for a focal length scan rate as high as 400kHz, but it is understood that slower focus position adjustments and/or modulation frequencies may be desirable in various implementations and/or applications. For example, in various implementations, a periodic modulation of 300Hz or 3kHz or 70kHz or 250kHz, etc. may be used. In implementations using slower focus position adjustments, the first high-speed VFL lens 370A and the second high-speed VFL lens 370B may each comprise a controllable fluid lens or the like. In various implementations, the periodically modulated VFL lens optical power may define a first periodic modulation phase.

In various implementations, the lens controller 371 may include a drive signal generator portion 372. Drive signal generator portion 372 may operate (e.g., in conjunction with timing clock 372') to provide a periodic signal. In various implementations, lens controller 371 may provide a phase timing signal synchronized with the periodic signal of drive signal generator section 372.

In the example of fig. 3, the first and

second relay lenses

352, 386 and the first and second high-

speed VFL lenses

370A, 370B are designated for inclusion in the 4f optical configuration, while the relay lens 352 and tube lens 351 are designated for inclusion in the keplerian telescope configuration, and the tube lens 351 and objective lens 350 are designated for inclusion in the microscope configuration. All illustrated configurations are to be understood as merely illustrative, and not restrictive of the present disclosure. Focal length F of tube lens 351 as a component of the Keplerian telescope arrangement_TUBEShown as being near the midpoint between tube lens 351 and first relay lens 352Similarly equidistant, the focal length f of the relay lens 352 is also the same. In an alternative implementation, the focal length F for tube lens 351 may be made_TUBEDifferent from the focal length f of the first relay lens 352 (which corresponds to one of the 4f optical configuration). In various implementations in which tube lens 351 may be included as part of a turret lens assembly, it may be desirable for the other tube lenses of the turret lens assembly to have a focal point at the same orientation when rotated into an operational position (i.e., so as to encounter the focal point of first relay lens 352).

The focal length F may be utilized as described in the previously incorporated' 409 application_TUBEThe ratio for the focal length f is to alter the diameter of the collimated beam of workpiece light 355 exiting relay lens 352 relative to the collimated beam of workpiece light 355 input to tube lens 351. It should be understood with respect to the collimated beams of workpiece light 355 that are input to tube lens 351 and output from first relay lens 352, respectively, that in various implementations, these collimated beams may be expanded into longer path lengths and/or beam splitters may be utilized with respect to these collimated beams for providing additional optical paths (e.g., directed to different camera systems, etc.).

In various implementations, the illustrated 4f optical configuration allows for placement of a first high-speed VFL lens 370A and a second high-speed VFL lens 370B (which may be, for example, a low Numerical Aperture (NA) device such as a tunable acoustic gradient index lens) around the fourier plane of the objective lens 350 (i.e., around the intermediate plane IP). Such a configuration may maintain telecentricity at workpiece 320 and may minimize scale changes and image distortion (e.g., including providing constant magnification for each Z-height of workpiece 320 and/or focal position FP). A keplerian telescope configuration (e.g., including tube lens 351 and first relay lens 352) may be included between the microscope configuration and the 4f optical configuration, and may be configured to: the desired size of the projection of the objective clear aperture is provided between the first high speed VFL lens 370A and the second high speed VFL lens 370B at the mid-plane IP. Alternatively, a galilean telescope may be utilized instead of a keplerian telescope to shorten the optical tracking length. Spherical aberration in high-speed VFL lens assemblies can degrade the performance of VFL imaging systems. One way to reduce spherical aberration is to use a smaller clear aperture in a high-speed VFL lens. For example, the clear aperture may be limited to less than 8.5mm in diameter. However, the smaller clear aperture is a result of the increased demagnification produced by the keplerian telescope configuration and also reduces the range R at the workpiece 320. Splitting the optical power between the two high-speed VFL lenses (e.g., the first high-speed VFL lens 370A and the second high-speed VFL lens 370B) reduces spherical aberration without reducing clear aperture, and thereby maintains or increases the range R at the workpiece 320. In some implementations, this may reduce spherical aberration by a factor of up to 5 while providing the same optical power modulation (e.g., +/-0.625 diopters).

In some implementations, the lens controller 371 may include a lens response adjustment configuration 373 (shown in phantom as optional) operable to: the resonant frequency of at least one of the first high-speed VFL lens 370A and the second high-speed VFL lens 370B is adjusted so that their resonant frequencies are approximately the same. High-speed VFL lenses do not typically have the same resonant frequency because of component variations (e.g., cavity size and piezoelectric cylinder Q factor). The lens response adjustment configuration 373 provides a means for matching the resonant frequencies of the first high-speed VFL lens 370A and the second high-speed VFL lens 370B to synchronize their optical power modulations. In some implementations, the lens response adjustment configuration 373 may include a response actuator arrangement 374 configured to: the resonant frequency of at least one of the first high-speed VFL lens 370A and the second high-speed VFL lens 370B is altered, and the lens response adjustment configuration 373 may control the response actuator arrangement 374 to adjust the resonant frequency of at least one of the first high-speed VFL lens 370A and the second high-speed VFL lens 370B such that their resonant frequencies are approximately the same. In some configurations, the responsive actuator arrangement 374 may include a heat source 375 operable to: at least one of the first high-speed VFL lens 370A and the second high-speed VFL lens 370B is modified to modify its resonant frequency. The operation of the responsive actuator arrangement including the heat source is described in detail with respect to fig. 6.

It should be understood that the VFL imaging system 300 may be a component of a machine vision inspection system. However, this is exemplary only and not limiting. In various implementations, the VFL imaging system 300 may be a component of a microscope or another imaging device.

Fig. 4 is a schematic diagram of a portion of a Variable Focal Length (VFL) imaging system 400. Variable focal length imaging system 400 is similar to Variable Focal Length (VFL) imaging system 300 of fig. 3. Elements numbered 4XX are similar to elements numbered 3XX in fig. 3 and can be understood by analogy.

Variable focal length imaging system 400 includes first and

second relay lenses

452, 486 arranged in a 4f optical configuration, a first high speed Variable Focal Length (VFL) lens 470A, a second high speed Variable Focal Length (VFL) lens 470B, and a filter 476 (e.g., a spatial filter or a fixed or programmable magnitude and/or phase filter) placed at the mid-plane IP. The intermediate plane IP is located at a distance from the first relay lens 452 equal to the first relay focal length, which acts as a fourier conjugate plane to the microscope object (e.g., objective lens 350) in the 4f optical configuration.

In some implementations, filter 476 may be a fixed mode pupil filter. In other implementations, the filter 476 may be a programmable spatial light modulator. In some implementations, the filter 476 may include a deconvolution filter, and the VFL imaging system 400 may be configured to: an extended depth of focus image is provided. In some implementations, the spatial filter 476 can alter the amplitude and/or phase of the transmitted light. In some implementations, the filter 476 may be a polarization filter.

As shown in fig. 4, the first relay lens 452 and the second relay lens 486 are separated by a distance RSEP equal to 2x f. In some implementations, the RSEP may be at least 135 mm. A typical TAG lens may have a width along the optical axis OA of approximately 60 mm. When the first and second high-

speed VFL lenses

470A and 470B are TAG lenses, a value as RSEP of at least 135mm allows the first and second high-

speed VFL lenses

470A and 470B to fit between the first and

second relay lenses

452 and 486. The first high-speed VFL lens 470A and the second high-speed VFL lens 470B may be separated along the optical axis OA by a distance SEP. In some implementations, when filter 476 is chrome on glass fixed mode pupil filter, the SEP can be at least 5mm to allow for sufficient spacing. However, in some implementations, when the filter 476 is a programmable spatial light modulator, the SEP may be at least 15mm to allow for sufficient pitch. In some implementations, the filter 476 may be a switchable filter and the VFL imaging system 400 may include a filter wheel or another component that changes the filter to match a particular objective lens and/or desired function.

Fig. 5 is a timing diagram 500 illustrating the timing of the phases of a control signal 510 and an optical response 520 used to periodically modulate the VFL imaging system 300 of fig. 3. In the example of fig. 5, such an ideal case is shown: the control signal 510 and the optical response 520 have similar phase timing and are therefore represented as the same signal. In various implementations, the control signal 510 may be related to the drive signal generated by the drive signal generator 372 of fig. 3, and the optical response 520 may represent the periodically modulated focal position of the imaging system controlled by periodically modulating the optical power of the first and second high-

speed VFL lenses

370A and 370B, as described above.

In various implementations, the sinusoidal shape of the curves 510, 520 may depend on a series of lenses (e.g., the objective lens 350, the first high-speed VFL lens 370A, the second high-speed VFL lens 370B, etc., as shown in fig. 3) whose combined optical power of the first high-speed VFL lens 370A and the second high-speed VFL lens 370B traverses the period shown in fig. 5 and is equal to 2x f (where f is the focal length). As will be described in more detail below, the Z-height versus phase characteristics relating individual Z-heights to individual phase timing signal values may be established by calibration according to known principles (e.g., by repeatedly stepping the surface to known Z-heights, then manually or computationally determining the phase timing of the best focused image at the known Z-heights, and storing the relationship in a look-up table, etc.).

Timing diagram 500 illustrates phase timing (e.g., φ 0, φ 90, φ 180, φ 270, etc.) equal to various phase timing signal values (e.g., t0, t90, t180, t270, etc.) of control signal 510, which correspond to various Z heights (e.g., Z φ 0, Z φ 90, Z φ 180, Z φ 270, etc.). In various implementations, the phase timing signal values (e.g., t0, t90, t180, t270, etc.) may be determined from a phase timing signal (e.g., provided by a clock or other technique for establishing timing relative to periodic modulation, etc.). It should be understood that the phase timing signal values shown in timing diagram 500 are intended to be exemplary only and not limiting. More generally, the phase timing signal values will have an associated focus position Z height over a range of focus positions shown (e.g., the range in the illustrated example having a maximum Z height Z φ 90 and a minimum Z height Z φ 270).

Figure 6 is a diagram illustrating a plot 600 of the resonant frequency of one type of variable focus lens at various operating temperatures. Graph 600 shows a set of measured resonant frequencies 610 (in degrees C) of the TAG lens (in kHz) as a function of temperature, and a linear fit 620. The linear fit 620 has a slope of approximately-130 Hz/degree C. In one implementation, the TAG lens characterized by plot 600 may be used as the second high speed VFL lens 370B while coupled to the heat source 375 of the responsive actuator arrangement 374. The lens response adjustment configuration 373 may control the response actuator arrangement 374 to adjust the resonant frequency of the second high-speed VFL lens 370B based on the linear fit 620. In some implementations, a feedback sensor (e.g., a confocal optical sensor or accelerometer) may provide feedback for adjusting the temperature and thus the resonant frequency of the second high-speed VFL lens 370B.

While preferred implementations of the disclosure have been shown and described, numerous variations in the arrangement and order of operation of the features shown and described will be apparent to those skilled in the art based on this disclosure. Various alternative forms may be used to implement the principles disclosed herein. Furthermore, the various implementations described above can be combined to provide other implementations. All U.S. patents and U.S. patent applications cited in this specification are incorporated herein by reference in their entirety. Aspects of the implementations can be modified, if necessary, to employ concepts of the various patents and applications to provide yet other implementations.

These and other changes can be made to the implementations in light of the above detailed description. In general, in the following claims, the terms used should not be construed to limit the claims to the specific implementations disclosed in the specification and the claims, but should be construed to include all possible implementations along with the full scope of equivalents to which such claims are entitled.

Claims

1. A variable focus imaging system comprising:

a camera system;

a first high-speed variable focal length lens;

a second high-speed variable focal length lens;

a first relay lens comprising a first relay focal length;

a second relay lens comprising a second relay focal length; and

a lens controller; wherein:

the first relay lens and the second relay lens are spaced relative to each other along an optical axis of the variable focal length imaging system by a distance equal to a sum of the first relay focal length and the second relay focal length;

the first high speed variable focal length lens and the second high speed variable focal length lens are spaced relative to each other along the optical axis on opposite sides of an intermediate plane located at a distance from the first relay lens equal to the first relay focal length; and

the lens controller is configured to: providing synchronized periodic modulation of the optical power of the first high speed variable focus lens and the optical power of the second high speed variable focus lens.

2. The variable focus imaging system of claim 1 further comprising a filter located at said intermediate plane.

3. The variable focus imaging system of claim 2 wherein the filter is one of a fixed mode pupil filter, a programmable spatial light modulator, an amplitude modifying filter, a phase modifying filter or a polarization filter.

4. The variable focus imaging system of claim 2, wherein:

the filter comprises a deconvolution filter; and

the imaging system is configured to: an extended depth of focus image is provided.

5. The variable focus imaging system of claim 2, further comprising a filter wheel configured to: a selectable filter is provided.

6. The variable focus imaging system of claim 1 wherein the first high speed variable focus lens and the second high speed variable focus lens are tunable acoustic gradient index lenses.

7. The variable focus imaging system of claim 6 wherein the first high speed variable focus lens and the second high speed variable focus lens are driven by a shared signal from the lens controller.

8. The variable focus imaging system of claim 1, wherein the lens controller comprises a lens response adjustment arrangement operable to: adjusting a resonant frequency of at least one of the first high-speed variable focal length lens and the second high-speed variable focal length lens so that their resonant frequencies are approximately the same.

9. The variable focus imaging system of claim 8, wherein the lens response adjustment configuration comprises a response actuator arrangement configured to: altering a resonant frequency of at least one of the first and second high speed variable focal length lenses, and the lens response adjustment configuration controls the response actuator arrangement to adjust the resonant frequency of at least one of the first and second high speed variable focal length lenses so that their resonant frequencies are approximately the same.

10. The variable focus imaging system of claim 9, wherein said responsive actuator arrangement comprises a heat source operable to: altering a temperature of at least one of the first high speed variable focus lens and the second high speed variable focus lens to alter a resonant frequency thereof.